/**
* Copy status data from the DS task for the user. This is used primarily to set digital outputs
* on the DS.
*/
protected void setData() {
synchronized (m_semaphore) {
FRCControl.setStatusData(
getBatteryVoltage(),
m_digitalOut,
m_updateNumber,
m_dashboardInUseHigh.getBytes(),
m_dashboardInUseHigh.getBytesLength(),
m_dashboardInUseLow.getBytes(),
m_dashboardInUseLow.getBytesLength(),
Semaphore.WAIT_FOREVER);
m_dashboardInUseHigh.flush();
m_dashboardInUseLow.flush();
}
}
/**
* DriverStation constructor.
*
* <p>The single DriverStation instance is created statically with the instance static member
* variable.
*/
protected DriverStation() {
m_controlData = new FRCCommonControlData();
m_semaphore = new Object();
m_dataSem = new Object();
m_dashboardInUseHigh = m_dashboardDefaultHigh = new Dashboard(m_semaphore);
m_dashboardInUseLow = m_dashboardDefaultLow = new Dashboard(m_semaphore);
// m_controlData is initialized in constructor FRCCommonControlData.
m_batteryChannel = new AnalogChannel(kBatterySlot, kBatteryChannel);
Semaphore.Options options = new Semaphore.Options();
options.setPrioritySorted(true);
m_packetDataAvailableSem = new Semaphore(options, false);
FRCControl.setNewDataSem(m_packetDataAvailableSem);
m_thread = new Thread(new DriverStationTask(this), "FRCDriverStation");
m_thread.setPriority((Thread.NORM_PRIORITY + Thread.MAX_PRIORITY) / 2);
m_thread.start();
}
/**
* Copy data from the DS task for the user. If no new data exists, it will just be returned,
* otherwise the data will be copied from the DS polling loop.
*/
protected synchronized void getData() {
FRCControl.getCommonControlData(m_controlData, Semaphore.WAIT_FOREVER);
m_newControlData = true;
}